OpenRaiser/Intern-Atlas huggingface dataset:
Learning Attentive Neural Processes for Planning with Pushing Actions
Venue: arXiv cs.RO 2025
Year: 2025

Our goal is to enable robots to plan sequences of tabletop actions to push a block with unknown physical properties to a desired goal pose. We approach this problem by learning the constituent models of a Partially-Observable Markov Decision Process (POMDP), where the robot can observe the outcome of a push, but the physical properties of the block that govern the dynamics remain unknown. A common solution approach is to train an observation model in a supervised fashion, and do inference with a general inference technique such as particle filters. However, supervised training requires knowledge of the relevant physical properties that determine the problem dynamics, which we do not assume to be known. Planning also requires simulating many belief updates, which becomes expensive when using particle filters to represent the belief. We propose to learn an Attentive Neural Process that computes the belief over a learned latent representation of the relevant physical properties given a history of actions. To address the pushing planning problem, we integrate a trained Neural Process with a double-progressive widening sampling strategy. Simulation results indicate that Neural Process Tree with Double Progressive Widening (NPT-DPW) generates better-performing plans faster than traditional particle-filter methods that use a supervised-trained observation model, even in complex pushing scenarios.
An Optimal $3$-Fault-Tolerant Connectivity Oracle
Venue: arXiv cs.DS 2025
Year: 2025

We present an optimal oracle for answering connectivity queries in undirected graphs in the presence of at most three vertex failures. Specifically, we show that we can process a graph $G$ in $O(n+m)$ time, in order to build a data structure that occupies $O(n)$ space, which can be used in order to answer queries of the form "given a set $F$ of at most three vertices, and two vertices $x$ and $y$ not in $F$, are $x$ and $y$ connected in $G\setminus F$?" in constant time, where $n$ and $m$ denote the number of vertices and edges, respectively, of $G$. The idea is to rely on the DFS-based framework introduced by Kosinas [ESA'23], for handling connectivity queries in the presence of multiple vertex failures. Our technical contribution is to show how to appropriately extend the toolkit of the DFS-based parameters, in order to optimally handle up to three vertex failures. Our approach has the interesting property that it does not rely on a compact representation of vertex cuts, and has the potential to provide optimal solutions for more vertex failures. Furthermore, we show that the DFS-based framework can be easily extended in order to answer vertex-cut queries, and the number of connected components in the presence of multiple vertex failures. In the case of three vertex failures, we can answer such queries in $O(\log n)$ time.
Mathematics of Continual Learning
Venue: arXiv cs.LG 2025
Year: 2025

Continual learning is an emerging subject in machine learning that aims to solve multiple tasks presented sequentially to the learner without forgetting previously learned tasks. Recently, many deep learning based approaches have been proposed for continual learning, however the mathematical foundations behind existing continual learning methods remain underdeveloped. On the other hand, adaptive filtering is a classic subject in signal processing with a rich history of mathematically principled methods. However, its role in understanding the foundations of continual learning has been underappreciated. In this tutorial, we review the basic principles behind both continual learning and adaptive filtering, and present a comparative analysis that highlights multiple connections between them. These connections allow us to enhance the mathematical foundations of continual learning based on existing results for adaptive filtering, extend adaptive filtering insights using existing continual learning methods, and discuss a few research directions for continual learning suggested by the historical developments in adaptive filtering.
Toward Low-Latency Services over PON using OCDMA Private Networks
Venue: arXiv cs.NI 2025
Year: 2025

An low-latency service scheme is proposed over Passive Optical Network (PON). The Optical Code Division Multiplexing Access (OCDMA) technique is used to define multiple private networks serving as Virtual GE-PON that mimic the service-based VLAN (S-VLAN) in the optical domain.
Back to Fundamentals: Low-Level Visual Features Guided Progressive Token Pruning
Venue: arXiv cs.CV 2025
Year: 2025

Vision Transformers (ViTs) excel in semantic segmentation but demand significant computation, posing challenges for deployment on resource-constrained devices. Existing token pruning methods often overlook fundamental visual data characteristics. This study introduces 'LVTP', a progressive token pruning framework guided by multi-scale Tsallis entropy and low-level visual features with twice clustering. It integrates high-level semantics and basic visual attributes for precise segmentation. A novel dynamic scoring mechanism using multi-scale Tsallis entropy weighting overcomes limitations of traditional single-parameter entropy. The framework also incorporates low-level feature analysis to preserve critical edge information while optimizing computational cost. As a plug-and-play module, it requires no architectural changes or additional training. Evaluations across multiple datasets show 20%-45% computational reductions with negligible performance loss, outperforming existing methods in balancing cost and accuracy, especially in complex edge regions.
DiffMI: Breaking Face Recognition Privacy via Diffusion-Driven Training-Free Model Inversion
Venue: arXiv cs.CR 2025
Year: 2025

Face recognition poses serious privacy risks due to its reliance on sensitive and immutable biometric data. While modern systems mitigate privacy risks by mapping facial images to embeddings (commonly regarded as privacy-preserving), model inversion attacks reveal that identity information can still be recovered, exposing critical vulnerabilities. However, existing attacks are often computationally expensive and lack generalization, especially those requiring target-specific training. Even training-free approaches suffer from limited identity controllability, hindering faithful reconstruction of nuanced or unseen identities. In this work, we propose DiffMI, the first diffusion-driven, training-free model inversion attack. DiffMI introduces a novel pipeline combining robust latent code initialization, a ranked adversarial refinement strategy, and a statistically grounded, confidence-aware optimization objective. DiffMI applies directly to unseen target identities and face recognition models, offering greater adaptability than training-dependent approaches while significantly reducing computational overhead. Our method achieves 84.42%--92.87% attack success rates against inversion-resilient systems and outperforms the best prior training-free GAN-based approach by 4.01%--9.82%. The implementation is available at https://github.com/azrealwang/DiffMI.
SMARTFinRAG: Interactive Modularized Financial RAG Benchmark
Venue: arXiv cs.CE 2025
Year: 2025

Financial sectors are rapidly adopting language model technologies, yet evaluating specialized RAG systems in this domain remains challenging. This paper introduces SMARTFinRAG, addressing three critical gaps in financial RAG assessment: (1) a fully modular architecture where components can be dynamically interchanged during runtime; (2) a document-centric evaluation paradigm generating domain-specific QA pairs from newly ingested financial documents; and (3) an intuitive interface bridging research-implementation divides. Our evaluation quantifies both retrieval efficacy and response quality, revealing significant performance variations across configurations. The platform's open-source architecture supports transparent, reproducible research while addressing practical deployment challenges faced by financial institutions implementing RAG systems.
Privacy-Preserving Personalized Federated Learning for Distributed Photovoltaic Disaggregation under Statistical Heterogeneity
Venue: arXiv cs.LG 2025
Year: 2025

The rapid expansion of distributed photovoltaic (PV) installations worldwide, many being behind-the-meter systems, has significantly challenged energy management and grid operations, as unobservable PV generation further complicates the supply-demand balance. Therefore, estimating this generation from net load, known as PV disaggregation, is critical. Given privacy concerns and the need for large training datasets, federated learning becomes a promising approach, but statistical heterogeneity, arising from geographical and behavioral variations among prosumers, poses new challenges to PV disaggregation. To overcome these challenges, a privacy-preserving distributed PV disaggregation framework is proposed using Personalized Federated Learning (PFL). The proposed method employs a two-level framework that combines local and global modeling. At the local level, a transformer-based PV disaggregation model is designed to generate solar irradiance embeddings for representing local PV conditions. A novel adaptive local aggregation mechanism is adopted to mitigate the impact of statistical heterogeneity on the local model, extracting a portion of global information that benefits the local model. At the global level, a central server aggregates information uploaded from multiple data centers, preserving privacy while enabling cross-center knowledge sharing. Experiments on real-world data demonstrate the effectiveness of this proposed framework, showing improved accuracy and robustness compared to benchmark methods.
Tracking Articulatory Dynamics in Speech with a Fixed-Weight BiLSTM-CNN Architecture
Venue: arXiv cs.SD 2025
Year: 2025

Speech production is a complex sequential process which involve the coordination of various articulatory features. Among them tongue being a highly versatile active articulator responsible for shaping airflow to produce targeted speech sounds that are intellectual, clear, and distinct. This paper presents a novel approach for predicting tongue and lip articulatory features involved in a given speech acoustics using a stacked Bidirectional Long Short-Term Memory (BiLSTM) architecture, combined with a one-dimensional Convolutional Neural Network (CNN) for post-processing with fixed weights initialization. The proposed network is trained with two datasets consisting of simultaneously recorded speech and Electromagnetic Articulography (EMA) datasets, each introducing variations in terms of geographical origin, linguistic characteristics, phonetic diversity, and recording equipment. The performance of the model is assessed in Speaker Dependent (SD), Speaker Independent (SI), corpus dependent (CD) and cross corpus (CC) modes. Experimental results indicate that the proposed model with fixed weights approach outperformed the adaptive weights initialization with in relatively minimal number of training epochs. These findings contribute to the development of robust and efficient models for articulatory feature prediction, paving the way for advancements in speech production research and applications.
Score-based deterministic density sampling
Venue: arXiv cs.LG 2025
Year: 2025

We propose a deterministic sampling framework using Score-Based Transport Modeling for sampling an unnormalized target density $π$ given only its score $\nabla \log π$. Our method approximates the Wasserstein gradient flow on $\mathrm{KL}(f_t\|π)$ by learning the time-varying score $\nabla \log f_t$ on the fly using score matching. While having the same marginal distribution as Langevin dynamics, our method produces smooth deterministic trajectories, resulting in monotone noise-free convergence. We prove that our method dissipates relative entropy at the same rate as the exact gradient flow, provided sufficient training. Numerical experiments validate our theoretical findings: our method converges at the optimal rate, has smooth trajectories, and is often more sample efficient than its stochastic counterpart. Experiments on high-dimensional image data show that our method produces high-quality generations in as few as 15 steps and exhibits natural exploratory behavior. The memory and runtime scale linearly in the sample size.
Tutte's theorem as an educational formalization project
Venue: arXiv cs.LO 2025
Year: 2025

In this work, we present two results: The first result is the formalization of Tutte's theorem in Lean, a key theorem concerning matchings in graph theory. As this formalization is ready to be integrated in Lean's mathlib, it provides a valuable step in the path towards formalizing research-level mathematics in this area. The second result is a framework for doing educational formalization projects. This framework provides a structure to learn to formalize mathematics with minimal teacher input. This framework applies to both traditional academic settings and independent community-driven environments. We demonstrate the framework's use by connecting it to the process of formalizing Tutte's theorem.
PerfCam: Digital Twinning for Production Lines Using 3D Gaussian Splatting and Vision Models
Venue: arXiv cs.CV 2025
Year: 2025

We introduce PerfCam, an open source Proof-of-Concept (PoC) digital twinning framework that combines camera and sensory data with 3D Gaussian Splatting and computer vision models for digital twinning, object tracking, and Key Performance Indicators (KPIs) extraction in industrial production lines. By utilizing 3D reconstruction and Convolutional Neural Networks (CNNs), PerfCam offers a semi-automated approach to object tracking and spatial mapping, enabling digital twins that capture real-time KPIs such as availability, performance, Overall Equipment Effectiveness (OEE), and rate of conveyor belts in the production line. We validate the effectiveness of PerfCam through a practical deployment within realistic test production lines in the pharmaceutical industry and contribute an openly published dataset to support further research and development in the field. The results demonstrate PerfCam's ability to deliver actionable insights through its precise digital twin capabilities, underscoring its value as an effective tool for developing usable digital twins in smart manufacturing environments and extracting operational analytics.
Smallest Intersecting and Enclosing Balls
Venue: arXiv cs.CG 2025
Year: 2025

We study the smallest intersecting and enclosing ball problems in Euclidean spaces for input objects that are compact and convex. They link and unify many problems in computational geometry and machine learning. We show that both problems can be modeled as zero-sum games, and propose an approximation algorithm for the former. Specifically, the algorithm produces the first results in high-dimensional spaces for various input objects such as convex polytopes, balls, ellipsoids, etc.
What Happened in This Pipeline? Diffing Build Logs with CiDiff
Venue: arXiv cs.SE 2025
Year: 2025

Continuous integration (CI) is widely used by developers to ensure the quality and reliability of their software projects. However, diagnosing a CI regression is a tedious process that involves the manual analysis of lengthy build logs. In this paper, we explore how textual differencing can support the debugging of CI regressions. As off-the-shelf diff algorithms produce suboptimal results, in this work we introduce a new diff algorithm specifically tailored to build logs called CiDiff. We evaluate CiDiff against several baselines on a novel dataset of 17 906 CI regressions, performing an accuracy study, a quantitative study and a user-study. Notably, our algorithm reduces the number of lines to inspect by about 60 % in the median case, with reasonable overhead compared to the state-of-practice LCS-diff. Finally, our algorithm is preferred by the majority of participants in 70 % of the regression cases, whereas LCS-diff is preferred in only 5 % of the cases.
Gradient Descent as a Shrinkage Operator for Spectral Bias
Venue: arXiv cs.LG 2025
Year: 2025

We generalize the connection between activation function and spline regression/smoothing and characterize how this choice may influence spectral bias within a 1D shallow network. We then demonstrate how gradient descent (GD) can be reinterpreted as a shrinkage operator that masks the singular values of a neural network's Jacobian. Viewed this way, GD implicitly selects the number of frequency components to retain, thereby controlling the spectral bias. An explicit relationship is proposed between the choice of GD hyperparameters (learning rate & number of iterations) and bandwidth (the number of active components). GD regularization is shown to be effective only with monotonic activation functions. Finally, we highlight the utility of non-monotonic activation functions (sinc, Gaussian) as iteration-efficient surrogates for spectral bias.
A Composable Game-Theoretic Framework for Blockchains
Venue: arXiv cs.GT 2025
Year: 2025

Blockchains rely on economic incentives to ensure secure and decentralised operation, making incentive compatibility a core design concern. However, protocols are rarely deployed in isolation. Applications interact with the underlying consensus and network layers, and multiple protocols may run concurrently on the same chain. These interactions give rise to complex incentive dynamics that traditional, isolated analyses often fail to capture. We propose the first compositional game-theoretic framework for blockchain protocols. Our model represents blockchain protocols as interacting games across layers -- application, network, and consensus. It enables formal reasoning about incentive compatibility under composition by introducing two key abstractions: the cross-layer game, which models how strategies in one layer influence others, and cross-application composition, which captures how application protocols interact concurrently through shared infrastructure. We illustrate our framework through case studies on HTLCs, Layer-2 protocols, and MEV, showing how compositional analysis reveals subtle incentive vulnerabilities and supports modular security proofs.
Dense Geometry Supervision for Underwater Depth Estimation
Venue: arXiv cs.CV 2025
Year: 2025

The field of monocular depth estimation is continually evolving with the advent of numerous innovative models and extensions. However, research on monocular depth estimation methods specifically for underwater scenes remains limited, compounded by a scarcity of relevant data and methodological support. This paper proposes a novel approach to address the existing challenges in current monocular depth estimation methods for underwater environments. We construct an economically efficient dataset suitable for underwater scenarios by employing multi-view depth estimation to generate supervisory signals and corresponding enhanced underwater images. we introduces a texture-depth fusion module, designed according to the underwater optical imaging principles, which aims to effectively exploit and integrate depth information from texture cues. Experimental results on the FLSea dataset demonstrate that our approach significantly improves the accuracy and adaptability of models in underwater settings. This work offers a cost-effective solution for monocular underwater depth estimation and holds considerable promise for practical applications.
BiasBench: A reproducible benchmark for tuning the biases of event cameras
Venue: arXiv cs.CV 2025
Year: 2025

Event-based cameras are bio-inspired sensors that detect light changes asynchronously for each pixel. They are increasingly used in fields like computer vision and robotics because of several advantages over traditional frame-based cameras, such as high temporal resolution, low latency, and high dynamic range. As with any camera, the output's quality depends on how well the camera's settings, called biases for event-based cameras, are configured. While frame-based cameras have advanced automatic configuration algorithms, there are very few such tools for tuning these biases. A systematic testing framework would require observing the same scene with different biases, which is tricky since event cameras only generate events when there is movement. Event simulators exist, but since biases heavily depend on the electrical circuit and the pixel design, available simulators are not well suited for bias tuning. To allow reproducibility, we present BiasBench, a novel event dataset containing multiple scenes with settings sampled in a grid-like pattern. We present three different scenes, each with a quality metric of the downstream application. Additionally, we present a novel, RL-based method to facilitate online bias adjustments.
SecCityVR: Visualization and Collaborative Exploration of Software Vulnerabilities in Virtual Reality
Venue: arXiv cs.HC 2025
Year: 2025

Security vulnerabilities in software systems represent significant risks as potential entry points for malicious attacks. Traditional dashboards that display the results of static analysis security testing often use 2D or 3D visualizations, which tend to lack the spatial details required to effectively reveal issues such as the propagation of vulnerabilities across the codebase or the appearance of concurrent vulnerabilities. Additionally, most reporting solutions only treat the analysis results as an artifact that can be reviewed or edited asynchronously by developers, limiting real-time, collaborative exploration. To the best of our knowledge, no VR-based approach exists for the visualization and interactive exploration of software security vulnerabilities. Addressing these challenges, the virtual reality (VR) environment SecCityVR was developed as a proof-of-concept implementation that employs the code city metaphor within VR to visualize software security vulnerabilities as colored building floors inside the surrounding virtual city. By integrating the application's call graph, vulnerabilities are contextualized within related software components. SecCityVR supports multi-user collaboration and interactive exploration. It provides explanations and mitigations for detected issues. A user study comparing SecCityVR with the traditional dashboard find-sec-bugs showed the VR approach provided a favorable experience, with higher usability, lower temporal demand, and significantly lower frustration despite having longer task completion times. This paper and its results contribute to the fields of collaborative and secure software engineering, as well as software visualization. It provides a new application of VR code cities to visualize security vulnerabilities, as well as a novel environment for security audits using collaborative and immersive technologies.
Local Statistical Parity for the Estimation of Fair Decision Trees
Venue: arXiv cs.LG 2025
Year: 2025

Given the high computational complexity of decision tree estimation, classical methods construct a tree by adding one node at a time in a recursive way. To facilitate promoting fairness, we propose a fairness criterion local to the tree nodes. We prove how it is related to the Statistical Parity criterion, popular in the Algorithmic Fairness literature, and show how to incorporate it into standard recursive tree estimation algorithms. We present a tree estimation algorithm called Constrained Logistic Regression Tree (C-LRT), which is a modification of the standard CART algorithm using locally linear classifiers and imposing restrictions as done in Constrained Logistic Regression. Finally, we evaluate the performance of trees estimated with C-LRT on datasets commonly used in the Algorithmic Fairness literature, using various classification and fairness metrics. The results confirm that C-LRT successfully allows to control and balance accuracy and fairness.